Single Fiber Optical Coherence Tomography Microsurgical Instruments for Computer and Robot-Assisted Retinal Surgery. - Marcin Balicki; Jae-Ho Han; Iulian Iordachita; Peter Gehlbach; James Handa; Russell H. Taylor; Jin U. Kang (MICCAI (1), 2009)

A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. - Iulian Iordachita; Zhenglong Sun 001; Marcin Balicki; Jin U. Kang; Soo Jay Phee; James Handa; Peter Gehlbach; Russell H. Taylor (Int. J. Comput. Assist. Radiol. Surg., 2009)

Active Multispectral Illumination and Image Fusion for Retinal Microsurgery. - Raphael Sznitman; Seth Billings; Diego Rother; Daniel Mirota; Yi Yang; James Handa; Peter Gehlbach; Jin U. Kang; Gregory D. Hager; Russell H. Taylor (IPCAI, 2010)

Micro-force Sensing in Robot Assisted Membrane Peeling for Vitreoretinal Surgery. - Marcin Balicki; Ali Uneri; Iulian Iordachita; James Handa; Peter Gehlbach; Russell H. Taylor (MICCAI (3), 2010)

Adaptive Multispectral Illumination for Retinal Microsurgery. - Raphael Sznitman; Diego Rother; James Handa; Peter Gehlbach; Gregory D. Hager; Russell H. Taylor (MICCAI (3), 2010)

Unified Detection and Tracking in Retinal Microsurgery. - Raphael Sznitman; Anasuya Basu; Rogério Richa; Jim Handa; Peter Gehlbach; Russell H. Taylor; Bruno Jedynak; Gregory D. Hager (MICCAI (1), 2011)

Force sensing micro-forceps for robot assisted retinal surgery. - Ismail Kuru 002; Berk Gonenc; Marcin Balicki; James Handa; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (EMBC, 2012)

Swept source optical coherence tomography based smart handheld vitreoretinal microsurgical tool for tremor suppression. - Cheol Song; Peter L. Gehlbach; Jin U. Kang (EMBC, 2012)

Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery. - Berk Gonenc; Marcin Balicki; James Handa; Peter Gehlbach; Cameron N. Riviere; Russell H. Taylor; Iulian Iordachita (IROS, 2012)

Interactive OCT Annotation and Visualization for Vitreoretinal Surgery. - Marcin Balicki; Rogério Richa; Balázs Vágvölgyi; Peter Kazanzides; Peter Gehlbach; James Handa; Jin U. Kang; Russell H. Taylor (AE-CAI, 2012)

Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery. - Berk Gonenc; James Handa; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (EMBC, 2013)

A comparative study for robot assisted vitreoretinal surgery: Micron vs. the Steady-Hand Robot. - Berk Gonenc; James Handa; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (ICRA, 2013)

A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery. - Xingchi He; Marcin Balicki; Peter Gehlbach; James Handa; Russell H. Taylor; Iulian Iordachita (ICRA, 2013)

Comparison of Baseline Tremor under Various Microsurgical Conditions. - Trent S. Wells; Sungwook Yang; Robert A. MacLachlan; James Handa; Peter Gehlbach; Cameron N. Riviere (SMC, 2013)

Motorized force-sensing micro-forceps with tremor cancelling and controlled micro-vibrations for easier membrane peeling. - Berk Gonenc; Peter Gehlbach; James Handa; Russell H. Taylor; Iulian Iordachita (BioRob, 2014)

Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results. - Xingchi He; Peter Gehlbach; James Handa; Russell H. Taylor; Iulian Iordachita (BioRob, 2014)

Injection-depth-locking axial motion guided handheld micro-injector using CP-SSOCT. - Gyeong Woo Cheon; Yong Huang; Hye Rin Kwag; Ki-Young Kim; Russell H. Taylor; Peter L. Gehlbach; Jin U. Kang (EMBC, 2014)

Human eye phantom for developing computer and robot-assisted epiretinal membrane peeling. - Amrita Gupta; Berk Gonenc; Marcin Balicki; Kevin C. Olds; James Handa; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (EMBC, 2014)

Toward robotically assisted membrane peeling with 3-DOF distal force sensing in retinal microsurgery. - Xingchi He; Peter Gehlbach; James Handa; Russell H. Taylor; Iulian Iordachita (EMBC, 2014)

Towards robot-assisted vitreoretinal surgery: Force-sensing micro-forceps integrated with a handheld micromanipulator. - Berk Gonenc; Ellen Feldman; Peter Gehlbach; James Handa; Russell H. Taylor; Iulian Iordachita (ICRA, 2014)

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery. - Xingchi He; Marcin Balicki; Peter Gehlbach; James Handa; Russell H. Taylor; Iulian Iordachita (ICRA, 2014)

A Submillimetric 3-DOF Force Sensing Instrument With Integrated Fiber Bragg Grating for Retinal Microsurgery. - Xingchi He; James Handa; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2014)

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery. - Yuki Horise; Xingchi He; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (EMBC, 2015)

Development of the dual SMART micro-surgical system using common-path swept source optical coherence tomography. - Hyun-cheo Park; Chaebeom Yeo; Peter L. Gehlbach; Cheol Song (EMBC, 2015)

IRIS: Integrated Robotic Intraocular Snake. - Xingchi He; Vincent van Geirt; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (ICRA, 2015)

Effects of micro-vibratory modulation during robot-assisted membrane peeling. - Berk Gonenc; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IROS, 2015)

Force-based puncture detection and active position holding for assisted retinal vein cannulation. - Berk Gonenc; Nhat Tran; Cameron N. Riviere; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (MFI, 2015)

3-DOF force-sensing micro-forceps for robot-assisted membrane peeling: Intrinsic actuation force modeling. - Anzhu Gao; Berk Gonenc; Jiangzhen Guo; Hao Liu 008; Peter Gehlbach; Iulian Iordachita (BioRob, 2016)

Robot-assisted retinal vein cannulation with force-based puncture detection: Micron vs. the steady-hand eye robot. - Berk Gonenc; Nhat Tran; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (EMBC, 2016)

Safe tissue manipulation in retinal microsurgery via motorized instruments with force sensing. - Berk Gonenc; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IEEE SENSORS, 2017)

Towards Robot-Assisted Retinal Vein Cannulation: A Motorized Force-Sensing Microneedle Integrated with a Handheld Micromanipulator. - Berk Gonenc; Jeremy Chae; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (Sensors, 2017)

Real-Time Sclera Force Feedback for Enabling Safe Robot-Assisted Vitreoretinal Surgery. - Ali Ebrahimi; Changyan He; Marina Roizenblatt; Niravkumar A. Patel; Shahriar Sefati; Peter Gehlbach; Iulian Iordachita (EMBC, 2018)

Towards Bimanual Robot-Assisted Retinal Surgery: Tool-to-Sclera Force Evaluation. - Changyan He; Marina Roizenblatt; Niravkumar A. Patel; Ali Ebrahimi; Yang Yang 103; Peter L. Gehlbach; Lulian lordachita (IEEE SENSORS, 2018)

User Behavior Evaluation in Robot-Assisted Retinal Surgery. - Changyan He; Ali Ebrahimi; Marina Roizenblatt; Niravkumar A. Patel; Yang Yang 103; Peter L. Gehlbach; Iulian Iordachita (RO-MAN, 2018)

Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery. - Ali Ebrahimi; Niravkumar A. Patel; Changyan He; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (ICRA, 2019)

Sclera Force Evaluation During Vitreoretinal Surgeries in Ex Vivo Porcine Eye Model. - Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Changyan He; Peter Gehlbach; Iulian Iordachita (IEEE SENSORS, 2019)

Toward Improving Patient Safety and Surgeon Comfort in a Synergic Robot-Assisted Eye Surgery: A Comparative Study. - Ali Ebrahimi; Farshid Alambeigi; Ingrid E. Zimmer-Galler; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IROS, 2019)

A Novel Semi-Autonomous Control Framework for Retina Confocal Endomicroscopy Scanning*. - Zhaoshuo Li; Guang-Zhong Yang; Russell H. Taylor; Mahya Shahbazi; Niravkumar A. Patel; Eimear O' Sullivan; Haojie Zhang; Khushi Vyas; Preetham Chalasani; Peter L. Gehlbach; Iulian Iordachita (IROS, 2019)

Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. - Ali Ebrahimi; Changyan He; Niravkumar A. Patel; Marin Kobilarov; Peter Gehlbach; Iulian Iordachita (ISMR, 2019)

Towards securing the sclera against patient involuntary head movement in robotic retinal surgery. - Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Changyan He; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (RO-MAN, 2019)

Hybrid Robotic-assisted Frameworks for Endomicroscopy Scanning in Retinal Surgeries. - Zhaoshuo Li; Mahya Shahbazi; Niravkumar A. Patel; Eimear O' Sullivan; Haojie Zhang; Khushi Vyas; Preetham Chalasani; Anton Deguet; Peter L. Gehlbach; Iulian Iordachita; Guang-Zhong Yang; Russell H. Taylor (CoRR, 2019)

Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control. - Ji Woong Kim; Peiyao Zhang; Peter Gehlbach; Iulian Iordachita; Marin Kobilarov (CoRL, 2020)

Scleral Force Evaluation During Vitreoretinal Surgery: in an In Vivo Rabbit Eye Model. - Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Peter Gehlbach; Iulian Iordachita (EMBC, 2020)

A Comparison of Manual and Robot Assisted Retinal Vein Cannulation in Chicken Chorioallantoic Membrane. - Niravkumar A. Patel; Muller Urias; Changyan He; Peter L. Gehlbach; Iulian Iordachita (EMBC, 2020)

Towards Bimanual Vein Cannulation: Preliminary Study of a Bimanual Robotic System With a Dual Force Constraint Controller. - Changyan He; Ali Ebrahimi; Emily Yang; Muller Urias; Yang Yang 103; Peter Gehlbach; Iulian Iordachita (ICRA, 2020)

Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. - Ji Woong Kim; Changyan He; Muller Urias; Peter Gehlbach; Gregory D. Hager; Iulian Iordachita; Marin Kobilarov (ICRA, 2020)

Auditory Feedback Effectiveness for Enabling Safe Sclera Force in Robot-Assisted Vitreoretinal Surgery: a Multi-User Study. - Ali Ebrahimi; Marina Roizenblatt; Niravkumar A. Patel; Peter Gehlbach; Iulian Iordachita (IROS, 2020)

An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot. - Jiahao Wu 002; Gang Li 018; Muller Urias; Niravkumar A. Patel; Yun-Hui Liu 001; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IROS, 2020)

FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy. - Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Peter Gehlbach; Farshid Alambeigi; Iulian Iordachita (ISMR, 2020)

Force-based Safe Vein Cannulation in Robot-assisted Retinal Surgery: A Preliminary Study. - Jiahao Wu 002; Changyan He; Mingchuan Zhou; Ali Ebrahimi; Muller Urias; Niravkumar A. Patel; Yunhui Liu 001; Peter Gehlbach; Iulian Iordachita (ISMR, 2020)

Spotlight-based 3D Instrument Guidance for Retinal Surgery. - Mingchuan Zhou; Jiahao Wu 002; Ali Ebrahimi; Niravkumar A. Patel; Changyan He; Peter Gehlbach; Russell H. Taylor; Alois C. Knoll; M. Ali Nasseri; Iulian Iordachita (ISMR, 2020)

Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework. - Changyan He; Niravkumar A. Patel; Mahya Shahbazi; Yang Yang 103; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2020)

Towards a Clinically Optimized Tilt Mechanism for Bilateral Micromanipulation with Steady-Hand Eye Robot. - Robert Roth; Jiahao Wu 002; Alireza Alamdar; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (ISMR, 2021)

ColibriDoc: An Eye-in-Hand Autonomous Trocar Docking System. - Shervin Dehghani; Michael Sommersperger; Junjie Yang; Benjamin Busam; Kai Huang 001; Peter Gehlbach; Iulian Iordachita; Nassir Navab; M. Ali Nasseri (CoRR, 2021)

Adaptive Control Improves Sclera Force Safety in Robot-Assisted Eye Surgery: A Clinical Study. - Ali Ebrahimi; Müller G. Urias; Niravkumar A. Patel; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2021)

Spotlight-Based 3D Instrument Guidance for Autonomous Task in Robot-Assisted Retinal Surgery. - Mingchuan Zhou; Jiahao Wu 002; Ali Ebrahimi; Niravkumar A. Patel; Yunhui Liu 001; Nassir Navab; Peter Gehlbach; Alois C. Knoll; M. Ali Nasseri; Iulian Iordachita (IEEE Robotics Autom. Lett., 2021)

OCT-guided Robotic Subretinal Needle Injections: A Deep Learning-Based Registration Approach. - Kristina Mach; Shuwen Wei; Ji Woong Kim; Alejandro Martin-Gomez; Peiyao Zhang; Jin U. Kang; M. Ali Nasseri; Peter Gehlbach; Nassir Navab; Iulian Iordachita (BIBM, 2022)

ColibriDoc: an Eye-in-Hand Autonomous Trocar Docking System. - Shervin Dehghani; Michael Sommersperger; Junjie Yang; Mehrdad Salehi; Benjamin Busam; Kai Huang 001; Peter Gehlbach; Iulian Iordachita; Nassir Navab; M. Ali Nasseri (ICRA, 2022)

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery *. - Boyang Xiao; Alireza Alamdar; Kefan Song; Ali Ebrahimi; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (ISMR, 2022)

Y-Net: A Spatiospectral Dual-Encoder Network for Medical Image Segmentation. - Azade Farshad; Yousef Yeganeh; Peter Gehlbach; Nassir Navab (MICCAI (2), 2022)

Υ-Net: A Spatiospectral Network for Retinal OCT Segmentation. - Azade Farshad; Yousef Yeganeh; Peter Gehlbach; Nassir Navab (CoRR, 2022)

Force and Velocity Based Puncture Detection in Robot Assisted Retinal Vein Cannulation: In-Vivo Study. - Alireza Alamdar; Niravkumar A. Patel; Muller Urias; Ali Ebrahimi; Peter Gehlbach; Iulian Iordachita (IEEE Trans. Biomed. Eng., 2022)

Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing. - Shervin Dehghani; Michael Sommersperger; Peiyao Zhang; Alejandro Martin-Gomez; Benjamin Busam; Peter Gehlbach; Nassir Navab; M. Ali Nasseri; Iulian Iordachita (ICRA, 2023)

Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes. - Peiyao Zhang; Ji Woong Kim; Peter Gehlbach; Iulian Iordachita; Marin Kobilarov (ICRA, 2023)

Human-Robot Interaction in Retinal Surgery: A Comparative Study of Serial and Parallel Cooperative Robots. - Botao Zhao 002; Mojtaba Esfandiari; David E. Usevitch; Peter Gehlbach; Iulian Iordachita (RO-MAN, 2023)

A Data-Driven Model with Hysteresis Compensation for I2RIS Robot. - Mojtaba Esfandiari; Yanlin Zhou; Shervin Dehghani; Muhammad Hadi; Adnan Munawar; Henry Phalen; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (CoRR, 2023)

Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging. - Ji Woong Kim; Shuwen Wei; Peiyao Zhang; Peter Gehlbach; Jin U. Kang; Iulian Iordachita; Marin Kobilarov (CoRR, 2023)

Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels. - Ji Woong Kim; Peiyao Zhang; Peter Gehlbach; Iulian Iordachita; Marin Kobilarov (CoRR, 2023)

Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery. - Ji Woong Kim; Peiyao Zhang; Peter Gehlbach; Iulian Iordachita; Marin Kobilarov (CoRR, 2023)

Steady-Hand Eye Robot 3.0: Optimization and Benchtop Evaluation for Subretinal Injection. - Alireza Alamdar; David E. Usevitch; Jiahao Wu 002; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (CoRR, 2023)

Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery. - Ali Ebrahimi; Shahriar Sefati; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (IEEE Trans. Robotics, 2023)

A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance. - Peiyao Zhang; Peter Gehlbach; Marin Kobilarov; Iulian Iordachita (EMBC, 2024)

Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery. - Shervin Dehghani; Michael Sommersperger; Mahdi Saleh; Alireza Alikhani; Benjamin Busam; Peter Gehlbach; Iulian Iordachita; Nassir Navab; M. Ali Nasseri (ICRA, 2024)

Cooperative vs. Teleoperation Control of the Steady Hand Eye Robot with Adaptive Sclera Force Control: A Comparative Study. - Mojtaba Esfandiari; Ji Woong Kim; Botao Zhao 002; Golchehr Amirkhani; Muhammad Hadi; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (ICRA, 2024)

Exploring the Needle Tip Interaction Force with Retinal Tissue Deformation in Vitreoretinal Surgery. - Simon Pannek; Shervin Dehghani; Michael Sommersperger; Peiyao Zhang; Peter Gehlbach; M. Ali Nasseri; Iulian Iordachita; Nassir Navab (ICRA, 2024)

A Data-Driven Model with Hysteresis Compensation for I2RIS Robot. - Mojtaba Esfandiari; Yanlin Zhou; Shervin Dehghani; Muhammad Hadi; Adnan Munawar; Henry Phalen; David E. Usevitch; Peter Gehlbach; Iulian Iordachita (ISMR, 2024)

Bimanual Manipulation of Steady Hand Eye Robots with Adaptive Sclera Force Control: Cooperative vs. Teleoperation Strategies. - Mojtaba Esfandiari; Golchehr Amirkhani; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita (CoRR, 2024)

Real-time Deformation-aware Control for Autonomous Robotic Subretinal Injection under iOCT Guidance. - Demir Arikan; Peiyao Zhang; Michael Sommersperger; Shervin Dehghani; Mojtaba Esfandiari; Russell H. Taylor; M. Ali Nasseri; Peter Gehlbach; Nassir Navab; Iulian Iordachita (CoRR, 2024)

Towards Autonomous Retinal Microsurgery Using RGB-D Images. - Ji Woong Kim; Shuwen Wei; Peiyao Zhang; Peter Gehlbach; Jin U. Kang; Iulian Iordachita; Marin Kobilarov (IEEE Robotics Autom. Lett., 2024)

Autonomous Needle Navigation in Subretinal Injections via iOCT. - Peiyao Zhang; Ji Woong Kim; Peter Gehlbach; Iulian Iordachita; Marin Kobilarov (IEEE Robotics Autom. Lett., 2024)

Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter*. - Mojtaba Esfandiari; Pengyuan Du; Haochen Wei; Peter Gehlbach; Adnan Munawar; Peter Kazanzides; Iulian Iordachita (ACC, 2025)

Towards Motion Compensation in Autonomous Robotic Subretinal Injections. - Demir Arikan; Mojtaba Esfandiari; Peiyao Zhang; Michael Sommersperger; Shervin Dehghani; Russell H. Taylor; M. Ali Nasseri; Peter Gehlbach; Nassir Navab; Iulian Iordachita (ISMR, 2025)

PAROS: Multi-Component Robotic System and an Image-Guided Patient Alignment for Robot-Assisted Ophthalmic Surgery. - Alireza Alikhani; Van Dai Nguyen; Satoshi Inagaki; Benjamin Busam; Koorosh Faridpooya; Mathias Maier; Peter Gehlbach; Iulian Iordachita; Nassir Navab; M. Ali Nasseri; Daniel Zapp (IEEE Access, 2025)

Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter. - Mojtaba Esfandiari; Pengyuan Du; Haochen Wei; Peter Gehlbach; Adnan Munawar; Peter Kazanzides; Iulian Iordachita (CoRR, 2025)

Deep Learning-Enhanced Robotic Subretinal Injection with Real-Time Retinal Motion Compensation. - Tianle Wu; Mojtaba Esfandiari; Peiyao Zhang; Russell H. Taylor; Peter Gehlbach; Iulian Iordachita (CoRR, 2025)

An Extended Generalized Prandtl-Ishlinskii Hysteresis Model for I2RIS Robot. - Yiyao Yue; Mojtaba Esfandiari; Pengyuan Du; Peter Gehlbach; Makoto Jinno; Adnan Munawar; Peter Kazanzides; Iulian Iordachita (CoRR, 2025)

A Deep Learning-Driven Autonomous System for Retinal Vein Cannulation: Validation Using a Chicken Embryo Model. - Yi Wang; Peiyao Zhang; Mojtaba Esfandiari; Peter Gehlbach; Iulian I. Iordachita (CoRR, 2025)